Related papers: Localization with Single or Antipodal Distance Mea…
In the polytope membership problem, a convex polytope $K$ in $R^d$ is given, and the objective is to preprocess $K$ into a data structure so that, given a query point $q \in R^d$, it is possible to determine efficiently whether $q \in K$.…
During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to…
This paper studies the possibility of upper bounding the position error of an estimate for range based positioning algorithms in wireless sensor networks. In this study, we argue that in certain situations when the measured distances…
Localization in indoor environments is essential to further support automation in a wide array of scenarios. Moreover, direction-of-arrival knowledge is essential to supporting high speed millimeter-wave (mmWave) links in indoor…
A distributed pose localization framework based on direction measurements is proposed for a type of \textit{leader-follower} multi-agent systems in $\mathbb{R}^3$. The novelty of the proposed localization method lies in the elimination of…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
Accurate depth information is crucial for enhancing the performance of multi-view 3D object detection. Despite the success of some existing multi-view 3D detectors utilizing pixel-wise depth supervision, they overlook two significant…
Visual odometry (VO) and SLAM have been using multi-view geometry via local structure from motion for decades. These methods have a slight disadvantage in challenging scenarios such as low-texture images, dynamic scenarios, etc. Meanwhile,…
The Meeting problem for $k\geq 2$ searchers in a polygon $P$ (possibly with holes) consists in making the searchers move within $P$, according to a distributed algorithm, in such a way that at least two of them eventually come to see each…
We provide a simple method and relevant theoretical analysis for efficiently estimating higher-order lp distances. While the analysis mainly focuses on l4, our methodology extends naturally to p = 6,8,10..., (i.e., when p is even).…
Many real-world applications require the estimation of human body joints for higher-level tasks as, for example, human behaviour understanding. In recent years, depth sensors have become a popular approach to obtain three-dimensional…
This paper presents an approach for visible light communication-based indoor positioning using compressed sensing. We consider a large number of light emitting diodes (LEDs) simultaneously transmitting their positional information and a…
Our work addresses the problem of egocentric human pose estimation from downwards-facing cameras on head-mounted devices (HMD). This presents a challenging scenario, as parts of the body often fall outside of the image or are occluded.…
Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…
We propose a novel method for aerial visual localization over low Level-of-Detail (LoD) city models. Previous wireframe-alignment-based method LoD-Loc has shown promising localization results leveraging LoD models. However, LoD-Loc mainly…
We propose a framework for compressive sensing of images with local distinguishable objects, such as stars, and apply it to solve a problem in celestial navigation. Specifically, let x be an N-pixel real-valued image, consisting of a small…
Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy grid, which is not trivial to keep consistent for prolonged…
Accurate location information is essential for many wireless sensor network (WSN) applications. A location-aware WSN generally includes two types of nodes: sensors whose locations to be determined and anchors whose locations are known a…
Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems in industry and everyday life, alongside humans, as well as…
A new method for estimating the relative positions of location-unaware nodes from the location-aware nodes and the received signal strength (RSS) between the nodes, in a wireless sensor network (WSN), is proposed. In the method, a…